# Specification of the intervention strategy.

# Grasp frame given wrt bounding box origin
geometry_msgs/Transform grasp_frame

# Hand preshape
int32 preshape
int32 PRESHAPE_CYLINDRICAL_PRECISION=1
int32 PRESHAPE_CYLINDRICAL_POWER=2
int32 PRESHAPE_ONE_FINGER=3
int32 PRESHAPE_HOOK=4
